CN113133813A - Dynamic information display system and method based on puncture process - Google Patents
Dynamic information display system and method based on puncture process Download PDFInfo
- Publication number
- CN113133813A CN113133813A CN202110357371.5A CN202110357371A CN113133813A CN 113133813 A CN113133813 A CN 113133813A CN 202110357371 A CN202110357371 A CN 202110357371A CN 113133813 A CN113133813 A CN 113133813A
- Authority
- CN
- China
- Prior art keywords
- puncture
- anatomical structure
- needle point
- information display
- dynamic information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 101
- 230000008569 process Effects 0.000 title claims abstract description 38
- 210000003484 anatomy Anatomy 0.000 claims abstract description 146
- 238000004364 calculation method Methods 0.000 claims abstract description 5
- 210000000056 organ Anatomy 0.000 claims description 18
- 238000004590 computer program Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 11
- 230000003190 augmentative effect Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 9
- 206010028980 Neoplasm Diseases 0.000 description 5
- 210000004072 lung Anatomy 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 206010056342 Pulmonary mass Diseases 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 210000004204 blood vessel Anatomy 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 238000011282 treatment Methods 0.000 description 2
- 206010060862 Prostate cancer Diseases 0.000 description 1
- 208000000236 Prostatic Neoplasms Diseases 0.000 description 1
- 238000011298 ablation treatment Methods 0.000 description 1
- 230000036772 blood pressure Effects 0.000 description 1
- 230000036760 body temperature Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 238000013188 needle biopsy Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002685 pulmonary effect Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 210000000614 rib Anatomy 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Pathology (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Measuring And Recording Apparatus For Diagnosis (AREA)
Abstract
The invention provides a dynamic information display system and method based on a puncture process, wherein the system comprises: a first acquisition unit for acquiring an anatomical model of the patient corresponding to at least one anatomical structure related to the puncture procedure; a second acquisition unit for acquiring a surgical field image; the registration unit is used for carrying out spatial position registration on the anatomical structure model and the anatomical structure of the patient in the operation site according to the operation site image; the calculation unit is used for obtaining the position of the puncture instrument according to the operation field image and calculating the position relation between the current puncture instrument and each anatomical structure; and the control unit is used for displaying or hiding the corresponding anatomical structure model in an overlapping manner at the corresponding position of each anatomical structure according to the position relation between the current puncture instrument and each anatomical structure. The dynamic information display system and method based on the puncture process provided by the invention can adjust the information display strategy, and facilitate operators to focus on the most key information in the puncture process.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a puncture process-based dynamic information display system and method.
Background
The description of the background of the invention pertaining to the related art to which this invention pertains is given for the purpose of illustration and understanding only of the summary of the invention and is not to be construed as an admission that the applicant is explicitly or implicitly admitted to be prior art to the date of filing this application as first filed with this invention.
With the development of medical technology, minimally invasive diagnosis and treatment are widely applied in clinic, such as needle biopsy of prostate cancer, needle ablation treatment of pulmonary nodules, and the like. The puncture operation needs to accurately puncture the puncture needle into a specific position in a human body without leaving a large wound on the surface of the skin of the human body. Because the focus position is deep and small, the puncture position, depth and direction can not be accurately positioned when the puncture is carried out through the body surface, and the problems of misdiagnosis, missed diagnosis and the like can be caused.
Therefore, in general, a puncture operation requires guidance of medical images (CT images, magnetic resonance images, ultrasound images, and the like) to accurately find a puncture target site. However, due to the limitation of various conditions, the medical image scanning and the puncture operation can not be performed simultaneously sometimes; meanwhile, in the process of performing the puncture operation, a lot of interference exists on an operator due to influence, and the success of the operation is often disturbed.
Disclosure of Invention
The invention provides a dynamic information display system and method based on a puncture process, which adjust an information display strategy and facilitate an operator to focus on the most key information in the puncture process.
One aspect of the present invention provides a dynamic information display system based on a puncturing process, including: a first acquisition unit for acquiring an anatomical model of the patient corresponding to at least one anatomical structure related to the puncture procedure; a second acquisition unit for acquiring a surgical field image; the registration unit is used for carrying out spatial position registration on the anatomical structure model and the anatomical structure of the patient in the operation site according to the operation site image; the calculation unit is used for obtaining the position of the puncture instrument according to the operation field image and calculating the position relation between the current puncture instrument and each anatomical structure; and the control unit is used for displaying or hiding the corresponding anatomical structure model in an overlapping manner at the corresponding position of each anatomical structure according to the position relation between the current puncture instrument and each anatomical structure.
Preferably, the anatomical model is derived from preoperative medical images of the patient.
Preferably, the anatomical structure model corresponding to the at least one anatomical structure associated with the puncture procedure comprises a three-dimensional model corresponding to the at least one anatomical structure on or near the puncture path.
Preferably, the surgical field images are taken continuously in real time during the surgical procedure.
Preferably, the positional relationship between the puncture instrument and each anatomical structure is indicated, and the indication is displayed in the form of a puncture information indication panel.
Preferably, calculating the positional relationship of the current puncture instrument to each anatomical structure includes the steps of: identifying and obtaining the position and/or the orientation of the needle point of the current puncture instrument according to the operation field image, and calculating in real time to obtain a connecting line between the needle point and the puncture target position and/or a needle point extension line; and calculating the position relation between the connecting line of the needle point and the puncture target position and/or the position relation between the needle point extension line and each anatomical structure in real time according to the connecting line of the needle point and the puncture target position and/or the needle point extension line and the anatomical structure model of the patient.
Preferably, the method for displaying or hiding the corresponding anatomical structure model in the corresponding position of each anatomical structure includes the following steps: and displaying or hiding the corresponding anatomical structure model in an overlapping manner at the corresponding position of each anatomical structure according to the connecting line of the needle point and the puncture target position and/or the position relation of the needle point extension line and each anatomical structure.
Preferably, the method for displaying or hiding the corresponding anatomical structure model in the corresponding position of each anatomical structure in an overlapping manner comprises the following steps: if the connecting line and/or the needle point extension line collide with the skin, the collision position and/or at least part of the skin is displayed; if no collision occurs, hiding the skin; constructing a cylinder by taking the connecting line and/or the extension line of the needle point as the central axis and taking the L as the diameter, and calculating the collision condition of the cylinder and the ribs; if the cylinder collides with the ribs, displaying the ribs colliding with the cylinder; if no collision occurs, hiding the ribs; wherein L is less than the minimum of the distance between two adjacent ribs; if the connecting line and/or the needle point extension line collide with the organ parenchyma outline, displaying all organ parenchyma; if no collision occurs, the organ parenchyma is hidden.
Preferably, the method for displaying or hiding the corresponding anatomical structure model in the corresponding position of each anatomical structure in an overlapping manner comprises the following steps: before the needle point collides with the skin, the puncture information prompt panel is bound with the needle point position of the puncture instrument; if the connecting line and/or the needle point extension line do not collide with the skin, the puncture information prompts the panel to move or switch to the puncture target position.
Preferably, the method for displaying or hiding the corresponding anatomical structure model in the corresponding position of each anatomical structure in an overlapping manner comprises the following steps: if the connecting line and/or the needle point extension line do not collide with the organ parenchyma outline, the puncture target, the intersection point of the needle point extension line and the puncture target plane are displayed in an enlarged manner.
Preferably, the monitoring result of the vital sign parameters of the patient is displayed in real time through the puncture information prompt panel, and when the fluctuation of the vital sign parameters exceeds a set threshold value, prompt display is carried out; the puncture information prompt panel is used for counting the surgical parameters and displaying the surgical parameters in real time.
The second aspect of the invention provides a dynamic information display method based on a puncture process, which comprises the following steps: obtaining an anatomical model of the patient corresponding to at least one anatomical structure associated with the puncture procedure; obtaining a surgical field image; according to the operation field image, the anatomical structure model and the anatomical structure of the patient in the operation field are subjected to spatial position registration; obtaining the position of the puncture instrument according to the operation field image, and calculating the position relation between the current puncture instrument and each anatomical structure; and according to the position relation between the current puncture instrument and each anatomical structure, overlapping and displaying or hiding the corresponding anatomical structure model at the corresponding position of each anatomical structure.
Preferably, the anatomical model is derived from preoperative medical images of the patient.
Preferably, the anatomical structure model corresponding to the at least one anatomical structure associated with the puncture procedure comprises a three-dimensional model corresponding to the at least one anatomical structure on the puncture path and in the vicinity of the puncture path.
Preferably, the surgical field images are taken continuously in real time during the surgical procedure.
Preferably, the positional relationship between the puncture instrument and each anatomical structure is indicated, and the indication is displayed in the form of a puncture information indication panel.
Preferably, calculating the positional relationship of the current puncture instrument to each anatomical structure includes the steps of: identifying and obtaining the position and/or the orientation of the needle point of the current puncture instrument according to the operation field image, and calculating in real time to obtain a connecting line between the needle point and the puncture target position and/or a needle point extension line; and calculating the position relation between the connecting line of the needle point and the puncture target position and/or the position relation between the needle point extension line and each anatomical structure in real time according to the connecting line of the needle point and the puncture target position and/or the needle point extension line and the anatomical structure model of the patient.
Preferably, the method for displaying or hiding the corresponding anatomical structure model in the corresponding position of each anatomical structure includes the following steps: and displaying or hiding the corresponding anatomical structure model in an overlapping manner at the corresponding position of each anatomical structure according to the connecting line of the needle point and the puncture target position and/or the position relation of the needle point extension line and each anatomical structure.
Preferably, the method for displaying or hiding the corresponding anatomical structure model in the corresponding position of each anatomical structure in an overlapping manner comprises the following steps: if the connecting line and/or the needle point extension line collide with the skin, the collision position and/or at least part of the skin is displayed; if no collision occurs, hiding the skin; constructing a cylinder by taking the connecting line and/or the extension line of the needle point as the central axis and taking the L as the diameter, and calculating the collision condition of the cylinder and the ribs; if the cylinder collides with the ribs, displaying the ribs colliding with the cylinder; if no collision occurs, hiding the ribs; wherein L is less than the minimum of the distance between two adjacent ribs; if the connecting line and/or the needle point extension line collide with the organ parenchyma outline, displaying all organ parenchyma; if no collision occurs, the organ parenchyma is hidden.
Preferably, the method for displaying or hiding the corresponding anatomical structure model in the corresponding position of each anatomical structure in an overlapping manner comprises the following steps: before the needle point collides with the skin, the puncture information prompt panel is bound with the needle point position of the puncture instrument; if the connecting line and/or the needle point extension line do not collide with the skin, the puncture information prompts the panel to move or switch to the puncture target position.
Preferably, the method for displaying or hiding the corresponding anatomical structure model in the corresponding position of each anatomical structure in an overlapping manner comprises the following steps: if the connecting line and/or the needle point extension line do not collide with the organ parenchyma outline, the puncture target, the intersection point of the needle point extension line and the puncture target plane are displayed in an enlarged manner.
Preferably, the monitoring result of the vital sign parameters of the patient is displayed in real time through the puncture information prompt panel, and when the fluctuation of the vital sign parameters exceeds a set threshold value, prompt display is carried out; the puncture information prompt panel is used for counting the surgical parameters and displaying the surgical parameters in real time.
The third aspect of the present invention also provides a dynamic information display device based on a puncturing process, which comprises a memory and a processor; wherein the memory is used for storing executable program codes; the processor is used for reading the executable program codes stored in the memory to execute the dynamic information display method based on the puncture process.
The fourth aspect of the present invention also provides a computer-readable storage medium storing a computer program, which when executed by a processor implements a dynamic information display method based on a puncturing procedure.
The invention provides a dynamic information display system and method based on a puncture process, which can calculate the spatial position relation of a puncture needle tip relative to a known three-dimensional model in real time, adjust an information display strategy by comparing with a preset condition, and facilitate an operator to focus attention on the most key information in the puncture process.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 illustrates a flow chart of one embodiment of a dynamic information display method based on a puncturing process in accordance with the present invention;
FIG. 2 illustrates a schematic diagram of the use of one embodiment of a dynamic information display system based on a puncturing procedure in accordance with the present invention;
FIG. 3 illustrates a puncture procedure view of one embodiment of a dynamic information display system based on a puncture procedure in accordance with the present invention;
FIG. 4 illustrates a block diagram of one embodiment of a dynamic information display device based on a lancing process according to the present description;
fig. 5 is a block diagram illustrating one embodiment of a computer-readable storage medium based on a dynamic information display method of a puncturing procedure according to the present specification.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The following discussion provides multiple embodiments of the invention. While each embodiment represents a single combination of the inventions, the various embodiments of the inventions can be combined in alternate, or combined, and thus the inventions can be considered to include all possible combinations of the same and/or different embodiments described. Thus, if one embodiment comprises A, B, C and another embodiment comprises a combination of B and D, then the invention should also be construed as comprising an embodiment that comprises A, B, C, D in all other possible combinations, although this embodiment may not be explicitly recited in the following text.
FIG. 1 illustrates a flow chart of one embodiment of a dynamic information display method based on a puncturing process in accordance with the present invention; as shown in fig. 1, an embodiment of the first aspect of the present invention provides a dynamic information display method based on a puncturing procedure, including, step S01: obtaining an anatomical model of the patient corresponding to at least one anatomical structure associated with the puncture procedure; step S02: obtaining a surgical field image; step S03: according to the operation field image, the anatomical structure model and the anatomical structure of the patient in the operation field are subjected to spatial position registration; step S04: obtaining the position of the puncture instrument according to the operation field image, and calculating the position relation between the current puncture instrument and each anatomical structure; step S05: and according to the position relation between the current puncture instrument and each anatomical structure, overlapping and displaying or hiding the corresponding anatomical structure model at the corresponding position of each anatomical structure. Wherein the anatomical structure information is obtained from preoperative medical images of the patient; the anatomical structure model corresponding to the at least one anatomical structure associated with the puncture procedure comprises a three-dimensional model corresponding to the at least one anatomical structure on and near the puncture path; the operation field image is obtained by real-time continuous shooting of a camera in the operation process. The anatomical structure on the puncture path refers to the anatomical structure through which the puncture needle passes in the puncture surgery process; the anatomical structure in the vicinity of the puncture path is an anatomical structure which is not passed through by the puncture needle in the surgical plan, but may be inadvertently touched due to the close distance. Taking a lung nodule puncture operation as an example, a puncture needle penetrates from the skin to reach a target lung nodule and necessarily passes through the skin and the lung, and the skin and the lung are anatomical structures on a puncture path; while the puncture needle is to pass from the rib space to the lung, there is a risk of hitting the ribs, which are the anatomical structures near the puncture path. The "superimposed display" in step S05 means that the operator can view both the actual anatomical structure and the anatomical structure model corresponding to the actual anatomical structure, and the two are superimposed.
In the embodiment of the invention, before the operation, the medical image scanning is carried out on the patient, and the puncture target is found according to the medical image of the patient; and then, performing operation navigation in an augmented reality mode, namely projecting an anatomical structure model of the patient obtained from medical images in advance into the visual field of an operator in the operation process, and guiding the operator to perform puncture operation. In the augmented reality navigation puncture process, different operation stages have different information display requirements. If a puncture plan is made, and a puncture needle is adjusted to aim at a target, the skin breaking point, ribs, blood vessels, trachea and the like of the current plan need to be displayed, and organs and the like need to be avoided; after the puncture is made into the skin, the interference information of the skin and the skin-entering point should be hidden, and the attention of the doctor is focused on the subsequent steps; similarly, when the puncture needle passes over the rib, the rib image should be hidden, and the prompt of the operation interface is simplified.
After the registration of the anatomical structure model and the real space of the patient is completed, the orientation of the needle point is identified and tracked through the head-mounted display, and the coordinate of the needle point is converted into the real space coordinate system which is the same as the anatomical structure model. The spatial position relation of the needle point of the puncture instrument relative to a known anatomical structure model is calculated in real time, and the information display strategy is adjusted by comparing the spatial position relation with preset conditions, so that an operator can conveniently focus on the most key information in the puncture process.
In the first embodiment of the present invention, the positional relationship between the puncture instrument and each anatomical structure is prompted, and the prompt is displayed in the form of a puncture information prompt panel; wherein, the puncture information prompt panel is a carrier for information display. For example, in an augmented reality surgical navigation scene, the puncture information prompt panel is overlaid with a real scene in an augmented reality mode and is displayed in a specific information display area in front of the visual field of an operator. The position relation between the puncture instrument and each anatomical structure is displayed on the puncture information prompt panel, and the information on the puncture information prompt panel is updated in time along with the progress of the puncture operation. Meanwhile, as can be understood by those skilled in the art, the puncture information prompt panel is displayed in the field of view of the operator similarly to the display form of the anatomical structure model.
In a first embodiment of the present invention, calculating the positional relationship of the current puncture instrument to each anatomical structure includes the steps of: and identifying and obtaining the position and/or the orientation of the needle point of the current puncture instrument according to the operation field image, and calculating in real time to obtain a connecting line between the needle point and the puncture target position and/or a needle point extension line. The puncture target position is a target point position where the needle tip of the puncture instrument is expected to reach, and it can be understood that the needle tip does not need to advance any more after the needle tip of the puncture instrument reaches the target point position. For example, when a puncture operation is performed on a nodule (an anatomical structure requiring puncture, i.e., a puncture target), if the size of the nodule is small (for example, the size of the nodule is smaller than 10 times the size of a needle tip), a geometric center of the nodule should be selected as a puncture target position in the puncture operation; when a puncture operation is performed on a tumor (an anatomical structure requiring puncture, i.e., a puncture target), and the size of the tumor is large (the size of the tumor is often larger than that of a nodule), the morphological structure and anatomical structure characteristics of the tumor should be considered as a whole, and a puncture target position should be selected reasonably, for example, the geometric center of the tumor can be used as the puncture target position.
In the case of calculating a connecting line between the needle point and the puncture target position and/or a needle point extending line, the needle point extending line refers to an extending line which is made along the extending direction of the needle body (towards the needle point) with the needle point position as a starting point, in the puncture process, the needle point extending line and the connecting line between the needle point and the puncture target position should be collinear, when the situation that the connecting line between the needle point and the puncture target position and the needle point extending line deviate easily occurs in the actual operation process, the connecting line between the needle point and the puncture target position should be calculated to calculate the position relation between the current puncture instrument and each anatomical structure.
A second embodiment of the present invention provides a puncture process-based dynamic information display system, including: a first acquisition unit for acquiring an anatomical model of the patient corresponding to at least one anatomical structure related to the puncture procedure; a second acquisition unit for acquiring a surgical field image; the registration unit is used for carrying out spatial position registration on the anatomical structure model and the anatomical structure of the patient in the operation site according to the operation site image; the calculation unit is used for obtaining the position of the puncture instrument according to the operation field image and calculating the position relation between the current puncture instrument and each anatomical structure; and the control unit is used for displaying or hiding the corresponding anatomical structure model in an overlapping manner at the corresponding position of each anatomical structure according to the position relation between the current puncture instrument and each anatomical structure.
In a second embodiment of the present invention, the positional relationship between the puncture instrument and each anatomical structure is presented, and the presentation is displayed in the form of a puncture information presentation panel, and the puncture information presentation panel is displayed on the display unit together with the surgical site image and the anatomical structure information. The puncture information prompt panel is used as a display module of auxiliary information or prompt information to prompt information or guide a puncture operation operator.
In a second embodiment of the present invention, calculating the positional relationship of the current puncture instrument to each anatomical structure includes the steps of: identifying and obtaining the position and/or the orientation of the needle point of the current puncture instrument according to the operation field image, and calculating in real time to obtain a connecting line between the needle point and the puncture target position and/or a needle point extension line; and acquiring the position relation between the connecting line of the needle point and the puncture target position and/or the position relation between the needle point extension line and each anatomical structure according to the connecting line of the needle point and the puncture target position and/or the needle point extension line and the anatomical structure model of the patient. The position relation between the puncture instrument and each operation area can be conveniently judged by constructing a connecting line between the needle point and the puncture target position.
In a second embodiment of the present invention, a corresponding anatomical structure model is displayed or hidden in an overlapping manner at a corresponding position of each anatomical structure according to a connection line between the needle tip and the puncture target position and/or a positional relationship between an extension line of the needle tip and each anatomical structure.
The method for displaying or hiding the corresponding anatomical structure model in the corresponding position of each anatomical structure in an overlapping mode comprises the following steps: if the connecting line and/or the needle point extension line collide with the skin, the collision position and/or at least part of the skin is displayed; if no collision occurs, hiding the skin; constructing a cylinder by taking the connecting line and/or the extension line of the needle point as the central axis and taking the L as the diameter, and calculating the collision condition of the cylinder and the ribs; if the cylinder collides with the ribs, displaying the ribs colliding with the cylinder; if no collision occurs, hiding the ribs; wherein L is less than the minimum of the distance between two adjacent ribs; if the connecting line and/or the needle point extension line collide with the organ parenchyma outline, displaying all organ parenchyma; if no collision occurs, the organ parenchyma is hidden. Through the setting, the anatomical structure in the puncture process can be simply and effectively augmented in the visual field of the operator.
In a second embodiment of the present invention, displaying or hiding the corresponding anatomical structure model in the corresponding position of each anatomical structure in an overlapping manner includes the following steps: before the needle point collides with the skin, the puncture information prompt panel is bound with the needle point position of the puncture instrument; if the connecting line and/or the needle point extension line do not collide with the skin, the puncture information prompts the panel to move or switch to the puncture target position. The augmented reality display equipment and the head-mounted camera are used, the position of the recognizable object pattern bound with the puncture instrument is recognized and tracked in real time, the display content is adjusted, the information is added or hidden, the position of the existing information in the space is adjusted, and partial information is amplified or reduced. Before the needle point collides with the skin, an operator focuses attention on the needle point, the puncture information prompt panel is bound with the needle point position of the puncture instrument, and the puncture information prompt panel moves correspondingly along with the movement of the needle point. Through the arrangement, the indication performance of the puncture information prompt panel can be improved, and an operator can operate the puncture information prompt panel conveniently.
In a second embodiment of the present invention, displaying or hiding the corresponding anatomical structure model in the corresponding position of each anatomical structure in an overlapping manner includes the following steps: if the connecting line and/or the needle point extension line do not collide with the organ parenchyma outline, the puncture target, the intersection point of the needle point extension line and the puncture target plane are displayed in an enlarged manner. Through enlarging the setting, the operator of being convenient for carries out the puncture operation, has improved the accuracy nature of operation.
In the second embodiment of the invention, the monitoring result of the vital sign parameters of the patient is displayed in real time through the puncture information prompt panel, and when the fluctuation of the vital sign parameters exceeds a set threshold value, prompt display is carried out; the puncture information prompt panel is used for counting the surgical parameters and displaying the surgical parameters in real time. The vital sign parameters can be the body temperature, the blood pressure, the heart rate and the like of a patient, the operation parameters can be the operation duration, the room temperature and the like, and the information of the puncture information prompt panel is added, so that the operator can obtain information in time conveniently, and the distraction is prevented.
FIG. 2 illustrates a schematic diagram of the use of one embodiment of a dynamic information display system based on a puncturing procedure in accordance with the present invention; as shown in fig. 2, the doctor wears the augmented reality device to perform the puncture operation, and during the operation, although the body of the patient is not cut open to see the internal anatomical structure, the augmented reality device can make the operator see the corresponding anatomical structure model at the corresponding position through the glasses device by using the three-dimensional model of the corresponding anatomical structure of the patient obtained before the operation.
FIG. 3 illustrates a puncture procedure view of one embodiment of a dynamic information display system based on a puncture procedure in accordance with the present invention; as shown in FIG. 3, the operator can see the actual penetrating instrument and the patient's skin in the field of view, while the operator can see a three-dimensional model of the corresponding anatomy of the tissue and organs at the corresponding location in the patient's body through augmented reality techniques. In the left figure, the puncture needle is ready to be fitted into the human body, and the rib of the patient is displayed at the corresponding position to be seen by the operator so as to avoid puncturing the rib; in the right drawing, the puncture needle already crosses the position of the rib, so that the rib does not need to be displayed, the rib is hidden to avoid interfering the sight of an operator, and meanwhile, the lung parenchyma is displayed. Similarly, models of structures such as blood vessels and puncture targets (e.g., lung nodules, lung bumps, etc.) are also displayed or hidden according to the position relationship between the models and the puncture needle.
FIG. 4 is a block diagram of one embodiment of a dynamic information display device based on a lancing process according to the present description; referring now to fig. 4, a schematic diagram of a dynamic information display device 300 based on a puncturing procedure suitable for implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., car navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 4, the electronic device 300 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 301 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)302 or a program loaded from a storage means 308 into a Random Access Memory (RAM) 303. In the RAM303, various programs and data necessary for the operation of the electronic apparatus 300 are also stored. The processing device 301, the ROM302, and the RAM303 are connected to each other via a bus 304. An input/output (I/O) interface 305 is also connected to bus 304.
Generally, the following devices may be connected to the I/O interface 305: input devices 306 including, for example, a touch screen, touch pad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; an output device 307 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage devices 308 including, for example, magnetic tape, hard disk, etc.; and a communication device 309. The communication means 309 may allow the electronic device 300 to communicate wirelessly or by wire with other devices to exchange data. While fig. 4 illustrates an electronic device 300 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication means 309, or installed from the storage means 308, or installed from the ROM 302. The computer program, when executed by the processing device 301, performs the above-described functions defined in the methods of the embodiments of the present disclosure.
FIG. 5 is a block diagram of one embodiment of a computer readable storage medium of a dynamic information display method based on a lancing process according to the present description; as shown in fig. 5, a computer-readable storage medium 40, having non-transitory computer-readable instructions 41 stored thereon, in accordance with an embodiment of the present disclosure. When executed by a processor, the non-transitory computer readable instructions 41 perform all or part of the steps of the dynamic information display method based on the puncturing procedure of the embodiments of the present disclosure as described above.
It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: constructing a basic page, wherein a page code of the basic page is used for constructing an environment required by the operation of the business page and/or realizing the same abstract workflow in the same business scene; constructing one or more page templates, wherein the page templates are used for providing code templates for realizing service functions in service scenes; generating a final page code of each page of the business scene through code conversion of a specific function of each page of the business scene based on the corresponding page template; and combining the generated final page code of each page into the page code of the basic page to generate the code of the service page.
Alternatively, the computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: constructing a basic page, wherein a page code of the basic page is used for constructing an environment required by the operation of the business page and/or realizing the same abstract workflow in the same business scene; constructing one or more page templates, wherein the page templates are used for providing code templates for realizing service functions in service scenes; generating a final page code of each page of the business scene through code conversion of a specific function of each page of the business scene based on the corresponding page template; and combining the generated final page code of each page into the page code of the basic page to generate the code of the service page.
Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of a unit does not in some cases constitute a limitation of the unit itself, for example, the first retrieving unit may also be described as a "unit for retrieving at least two internet protocol addresses".
The invention provides a dynamic information display system and method based on a puncture process, which can calculate the spatial position relation of a puncture needle tip relative to a known three-dimensional model in real time, adjust an information display strategy by comparing with a preset condition, and facilitate an operator to focus attention on the most key information in the puncture process.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be understood that the terms "upper", "lower", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A dynamic information display system based on a puncture process, comprising:
a first acquisition unit for acquiring an anatomical model of the patient corresponding to at least one anatomical structure related to the puncture procedure;
a second acquisition unit for acquiring a surgical field image;
a registration unit for spatially registering the anatomical structure model with an anatomical structure of the patient at a surgical site according to the surgical site image;
the calculation unit is used for obtaining the position of a puncture instrument according to the operation field image and calculating the position relation between the current puncture instrument and each anatomical structure;
and the control unit is used for displaying or hiding the corresponding anatomical structure model in an overlapping mode at the corresponding position of each anatomical structure according to the position relation between the current puncture instrument and each anatomical structure.
2. The dynamic information display system based on puncture procedure according to claim 1, wherein the anatomical structure model corresponding to the at least one anatomical structure related to the puncture procedure comprises a three-dimensional model corresponding to the at least one anatomical structure on or near the puncture path.
3. A puncture procedure-based dynamic information display system according to any one of claims 1-2, wherein the puncture instrument is prompted with respect to the positional relationship with each of the anatomical structures, and the prompt is displayed in the form of a puncture information prompt panel.
4. A puncture procedure-based dynamic information display system according to claim 3, wherein the calculation of the positional relationship of the current puncture instrument with respect to each of the anatomical structures comprises the steps of:
identifying and obtaining the position and/or the orientation of the needle point of the current puncture instrument according to the operation field image, and calculating in real time to obtain a connecting line between the needle point and the puncture target position and/or a needle point extension line;
and calculating the position relation between the connecting line of the needle point and the puncture target position and/or the position relation between the needle point extension line and each anatomical structure in real time according to the connecting line of the needle point and the puncture target position and/or the needle point extension line and the anatomical structure model of the patient.
5. The dynamic information display system based on puncture process according to claim 4, wherein the displaying or hiding the corresponding anatomical structure model in the corresponding position of each anatomical structure in an overlapping manner comprises:
and displaying or hiding the corresponding anatomical structure model in an overlapping manner at the corresponding position of each anatomical structure according to the connecting line of the needle point and the puncture target position and/or the position relation of the needle point extension line and each anatomical structure.
6. A puncture-procedure-based dynamic information display system according to claim 5, wherein the superimposed display or hiding of the corresponding anatomical structure model at the corresponding position of each of the anatomical structures comprises the steps of:
if the connecting line and/or the needle point extension line collide with the skin, the collision position and/or at least part of the skin is displayed; if no collision occurs, hiding the skin;
constructing a cylinder by taking the connecting line and/or the extension line of the needle point as a central axis and taking L as a diameter, and calculating the collision condition of the cylinder and the ribs; if the cylinder collides with the ribs, displaying the ribs colliding with the cylinder; if no collision occurs, hiding the ribs; wherein L is less than the minimum of the distance between two adjacent ribs;
if the connecting line and/or the needle point extension line collide with the organ parenchyma outline, displaying the organ parenchyma; if no collision occurs, the organ parenchyma is hidden.
7. A puncture-procedure-based dynamic information display system according to claim 6, wherein the superimposed display or hiding of the corresponding anatomical structure model at the corresponding position of each of the anatomical structures comprises the steps of:
before the needle point collides with the skin, the puncture information prompt panel is bound with the needle point position of the puncture instrument; and if the connecting line and/or the needle point extension line do not collide with the skin, the puncture information prompt panel moves or is switched to the puncture target position.
8. A puncture procedure-based dynamic information display system according to claim 7, wherein the displaying or hiding of the corresponding anatomical structure model in the corresponding position of each anatomical structure in an overlapping manner comprises the steps of:
and if the connecting line and/or the needle point extension line do not collide with the organ substantial outline, magnifying and displaying the puncture target, the needle point extension line and the intersection point of the puncture target plane.
9. The dynamic information display system based on the puncture process as claimed in claim 3, wherein the monitoring result of the vital sign parameters of the patient is displayed in real time through the puncture information prompt panel, and when the fluctuation of the vital sign parameters exceeds a set threshold, prompt display is performed; and counting the surgical parameters through the puncture information prompt panel and displaying the surgical parameters in real time.
10. A dynamic information display method based on a puncture process is characterized by comprising the following steps:
obtaining an anatomical model of the patient corresponding to at least one anatomical structure associated with the puncture procedure;
obtaining a surgical field image;
spatially registering the anatomical model with the patient's anatomy at the surgical site based on the surgical site image;
obtaining the position of a puncture instrument according to the operation field image, and calculating the position relation between the current puncture instrument and each anatomical structure;
and according to the position relation between the current puncture instrument and each anatomical structure, overlapping and displaying or hiding the corresponding anatomical structure model at the corresponding position of each anatomical structure.
11. A dynamic information display device based on a puncture process includes a memory and a processor; wherein the memory is to store executable program code; the processor is configured to read executable program code stored in the memory to perform the puncturing procedure based dynamic information display method according to claim 10.
12. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements the puncture procedure-based dynamic information display method according to claim 10.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110357371.5A CN113133813A (en) | 2021-04-01 | 2021-04-01 | Dynamic information display system and method based on puncture process |
| PCT/CN2022/081510 WO2022206416A1 (en) | 2021-04-01 | 2022-03-17 | Puncture process-based dynamic information display system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110357371.5A CN113133813A (en) | 2021-04-01 | 2021-04-01 | Dynamic information display system and method based on puncture process |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113133813A true CN113133813A (en) | 2021-07-20 |
Family
ID=76810564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110357371.5A Pending CN113133813A (en) | 2021-04-01 | 2021-04-01 | Dynamic information display system and method based on puncture process |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113133813A (en) |
| WO (1) | WO2022206416A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113456225A (en) * | 2021-07-22 | 2021-10-01 | 皖南医学院第一附属医院（皖南医学院弋矶山医院） | Airway management navigation method and system |
| WO2022206416A1 (en) * | 2021-04-01 | 2022-10-06 | 上海复拓知达医疗科技有限公司 | Puncture process-based dynamic information display system and method |
| CN114840110B (en) * | 2022-03-17 | 2023-06-20 | 杭州未名信科科技有限公司 | Puncture navigation interaction assisting method and device based on mixed reality |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000185041A (en) * | 1998-10-14 | 2000-07-04 | Toshiba Corp | Ultrasonic diagnostic apparatus |
| CN1636520A (en) * | 2003-08-19 | 2005-07-13 | 株式会社东芝 | Ultrasonic diagnostic apparatus |
| US20090137907A1 (en) * | 2007-11-22 | 2009-05-28 | Kabushiki Kaisha Toshiba | Imaging diagnosis apparatus having needling navigation control system and a needling navigation controlling method |
| CN101843502A (en) * | 2009-03-23 | 2010-09-29 | 株式会社东芝 | Diagnostic ultrasound equipment and centesis supporting method thereof |
| WO2016060308A1 (en) * | 2014-10-17 | 2016-04-21 | 서울대학교병원 | Needle insertion type robot apparatus for interventional surgery |
| CN105636541A (en) * | 2013-03-15 | 2016-06-01 | 圣纳普医疗(巴巴多斯)公司 | Planning, navigation and simulation systems and methods for minimally invasive therapy |
| US20180357825A1 (en) * | 2017-06-09 | 2018-12-13 | Siemens Healthcare Gmbh | Output of position information of a medical instrument |
| CN109259806A (en) * | 2017-07-17 | 2019-01-25 | 云南师范大学 | A method of the accurate aspiration biopsy of tumour for image guidance |
| CN109310363A (en) * | 2015-11-07 | 2019-02-05 | 普渡研究基金会 | Optoacoustic navigation equipment and method in a kind of art |
| CN109330683A (en) * | 2018-09-07 | 2019-02-15 | 天津市肿瘤医院 | A kind of intervention puncture path security assessment method based on patient lungs 4D-CT |
| CN110051434A (en) * | 2019-04-25 | 2019-07-26 | 厦门强本科技有限公司 | AR operation piloting method and terminal in conjunction with endoscope |
| US20190231443A1 (en) * | 2017-10-02 | 2019-08-01 | Mcginley Engineered Solutions, Llc | Surgical instrument with real time navigation assistance |
| CN111260786A (en) * | 2020-01-06 | 2020-06-09 | 南京航空航天大学 | Intelligent ultrasonic multi-mode navigation system and method |
| CN112533540A (en) * | 2018-08-13 | 2021-03-19 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic imaging method, ultrasonic imaging device and puncture navigation system |
| CN112584789A (en) * | 2018-06-19 | 2021-03-30 | 托尼尔公司 | Mixed reality surgical system with physical markers registering virtual models |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107374705A (en) * | 2017-06-20 | 2017-11-24 | 上海交通大学 | A kind of lung puncture location of operation method under X-ray and preoperative CT guiding |
| CN108784831A (en) * | 2018-04-14 | 2018-11-13 | 深圳市图智能科技有限公司 | A kind of puncture parameter generation method based on 3-dimensional image |
| CN113133813A (en) * | 2021-04-01 | 2021-07-20 | 上海复拓知达医疗科技有限公司 | Dynamic information display system and method based on puncture process |
| CN113133814A (en) * | 2021-04-01 | 2021-07-20 | 上海复拓知达医疗科技有限公司 | Augmented reality-based puncture surgery navigation device and computer-readable storage medium |
-
2021
- 2021-04-01 CN CN202110357371.5A patent/CN113133813A/en active Pending
-
2022
- 2022-03-17 WO PCT/CN2022/081510 patent/WO2022206416A1/en active Application Filing
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000185041A (en) * | 1998-10-14 | 2000-07-04 | Toshiba Corp | Ultrasonic diagnostic apparatus |
| CN1636520A (en) * | 2003-08-19 | 2005-07-13 | 株式会社东芝 | Ultrasonic diagnostic apparatus |
| US20090137907A1 (en) * | 2007-11-22 | 2009-05-28 | Kabushiki Kaisha Toshiba | Imaging diagnosis apparatus having needling navigation control system and a needling navigation controlling method |
| CN101843502A (en) * | 2009-03-23 | 2010-09-29 | 株式会社东芝 | Diagnostic ultrasound equipment and centesis supporting method thereof |
| CN105636541A (en) * | 2013-03-15 | 2016-06-01 | 圣纳普医疗(巴巴多斯)公司 | Planning, navigation and simulation systems and methods for minimally invasive therapy |
| WO2016060308A1 (en) * | 2014-10-17 | 2016-04-21 | 서울대학교병원 | Needle insertion type robot apparatus for interventional surgery |
| CN109310363A (en) * | 2015-11-07 | 2019-02-05 | 普渡研究基金会 | Optoacoustic navigation equipment and method in a kind of art |
| US20180357825A1 (en) * | 2017-06-09 | 2018-12-13 | Siemens Healthcare Gmbh | Output of position information of a medical instrument |
| CN109259806A (en) * | 2017-07-17 | 2019-01-25 | 云南师范大学 | A method of the accurate aspiration biopsy of tumour for image guidance |
| US20190231443A1 (en) * | 2017-10-02 | 2019-08-01 | Mcginley Engineered Solutions, Llc | Surgical instrument with real time navigation assistance |
| CN112584789A (en) * | 2018-06-19 | 2021-03-30 | 托尼尔公司 | Mixed reality surgical system with physical markers registering virtual models |
| CN112533540A (en) * | 2018-08-13 | 2021-03-19 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic imaging method, ultrasonic imaging device and puncture navigation system |
| CN109330683A (en) * | 2018-09-07 | 2019-02-15 | 天津市肿瘤医院 | A kind of intervention puncture path security assessment method based on patient lungs 4D-CT |
| CN110051434A (en) * | 2019-04-25 | 2019-07-26 | 厦门强本科技有限公司 | AR operation piloting method and terminal in conjunction with endoscope |
| CN111260786A (en) * | 2020-01-06 | 2020-06-09 | 南京航空航天大学 | Intelligent ultrasonic multi-mode navigation system and method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022206416A1 (en) * | 2021-04-01 | 2022-10-06 | 上海复拓知达医疗科技有限公司 | Puncture process-based dynamic information display system and method |
| CN113456225A (en) * | 2021-07-22 | 2021-10-01 | 皖南医学院第一附属医院（皖南医学院弋矶山医院） | Airway management navigation method and system |
| CN113456225B (en) * | 2021-07-22 | 2022-03-29 | 皖南医学院第一附属医院（皖南医学院弋矶山医院） | Airway management navigation method and system |
| CN114840110B (en) * | 2022-03-17 | 2023-06-20 | 杭州未名信科科技有限公司 | Puncture navigation interaction assisting method and device based on mixed reality |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022206416A1 (en) | 2022-10-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111093516B (en) | Ultrasound system and method for planning ablation | |
| WO2022206416A1 (en) | Puncture process-based dynamic information display system and method | |
| US11547499B2 (en) | Dynamic and interactive navigation in a surgical environment | |
| US9107698B2 (en) | Image annotation in image-guided medical procedures | |
| EP2642917B1 (en) | System and method for interactive three dimensional operation guidance system for soft organs based on anatomic map | |
| US20160163105A1 (en) | Method of operating a surgical navigation system and a system using the same | |
| JP5309109B2 (en) | Medical image processing apparatus and method, and program | |
| KR20190100009A (en) | Method and apparatus for providing surgical video | |
| JP2018534011A (en) | Augmented reality surgical navigation | |
| EP2554103A1 (en) | Endoscope observation supporting system and method, and device and programme | |
| US20140187946A1 (en) | Active ultrasound imaging for interventional procedures | |
| US20160354152A1 (en) | Accurate Three-Dimensional Instrument Positioning | |
| US10695032B2 (en) | Medical image display apparatus and method therefor | |
| WO2015039302A1 (en) | Method and system for guided ultrasound image acquisition | |
| JP2018529475A (en) | Apparatus, method and system for medical image annotation | |
| JP2019130393A (en) | Image guidance system with user definable regions of interest | |
| WO2022206415A1 (en) | Prompt information display device and method for augmented reality surgical navigation system | |
| CN112116575A (en) | Image processing method and device, electronic equipment and storage medium | |
| US11806088B2 (en) | Method, system, computer program product and application-specific integrated circuit for guiding surgical instrument | |
| CN113662594B (en) | Mammary gland puncture positioning/biopsy method, device, computer equipment and storage medium | |
| US20210287434A1 (en) | System and methods for updating an anatomical 3d model | |
| CN114945990A (en) | System and method for providing surgical assistance based on operational context | |
| US20230147826A1 (en) | Interactive augmented reality system for laparoscopic and video assisted surgeries | |
| JP6078134B1 (en) | Medical system | |
| US11986248B2 (en) | Apparatus and method for matching the real surgical image with the 3D-based virtual simulated surgical image based on POI definition and phase recognition |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210720 |